@inproceedings{olfati2002near,
  title={Near-identity diffeomorphisms and exponential/spl epsi/-tracking and/spl epsi/-stabilization of first-order nonholonomic SE (2) vehicles},
  author={Olfati-Saber, Reza},
  booktitle={American Control Conference, 2002. Proceedings of the 2002},
  volume={6},
  pages={4690--4695},
  year={2002},
  organization={IEEE}
}

@article{glotfelter2018parametric,
  title={A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots},
  author={Glotfelter, Paul and Egerstedt, Magnus},
  journal={arXiv preprint arXiv:1802.07199},
  year={2018}
}

